yes, and no. Stricly speaking you need a licesnse to allow you to use copyright information. Even if it's non-commercial (obvious example, if you post, say, Jasmine making out with Hitler on some non-monetized account, Disney can take that down. Or try. It really comes down to if the platform wants to argue fair use or parody or whatnot. Most won't defend you, though).

But enforcement-wise, Disney won't bother going after every copyright potential. They will focus on the biggest money makers or the biggest potential to brand damage. So it's not a worry for most people who will just draw some mickey mouse for a friend, or even private client as long as they aren't stupid.